/**
* Rotate the oriented bounding box of the 3D image about the specified axis with the specified
* angle.
*
* @param transform The transform and its matrix by which to rotate the image.
*/
public void rotateFrameBy(Transform3D transform) {
double rY, rX, rZ;
double sinrX, sinrY, sinrZ, cosrX, cosrY, cosrZ;
Matrix3d matrix = new Matrix3d();
transform.get(matrix);
rY = -Math.asin(matrix.m02);
if (Math.cos(rY) != 0) {
rX = -Math.atan2(matrix.m12, matrix.m22);
rZ = Math.atan2(matrix.m01, matrix.m00);
} else {
rX = -Math.atan2(matrix.m10, matrix.m11);
rZ = 0;
}
cosrX = Math.cos(rX);
sinrX = Math.sin(rX);
cosrY = Math.cos(rY);
sinrY = Math.sin(rY);
cosrZ = Math.cos(rZ);
sinrZ = Math.sin(rZ);
matrix.m00 = cosrZ * cosrY;
matrix.m01 = -sinrZ * cosrY;
matrix.m02 = sinrY;
matrix.m10 = (cosrZ * sinrY * sinrX) + (sinrZ * cosrX);
matrix.m11 = (-sinrZ * sinrY * sinrX) + (cosrZ * cosrX);
matrix.m12 = -cosrY * sinrX;
matrix.m20 = (-cosrZ * sinrY * cosrX) + (sinrZ * sinrX);
matrix.m21 = (sinrZ * sinrY * cosrX) + (cosrZ * sinrX);
matrix.m22 = cosrY * cosrX;
m_kRotate.set(matrix);
m_akAxis[0] = new Vector3f(1.0f, 0.0f, 0.0f);
m_akAxis[1] = new Vector3f(0.0f, 1.0f, 0.0f);
m_akAxis[2] = new Vector3f(0.0f, 0.0f, 1.0f);
for (int i = 0; i < 3; i++) {
m_kRotate.transform(m_akAxis[i]);
}
orthonormalize(m_akAxis);
for (int i = 0; i < 3; i++) {
setAxis(i, m_akAxis[i]);
}
}
